Understanding Morse code organisation

The source code of Morse is organised in the following way :

  • addons: it contains various addons for blender, useful for MORSE simulation
  • bin: it contains the main entry point of the MORSE simulation
  • bindings: it contains some python library to access to MORSE data, through the socket middleware
  • config: it contains stuff for Cmake
  • data: it contains the blender model of sensors / actuators
  • doc: the documentation (in rest format)
  • examples: it contains examples about :
    • how to control the simulator (in clients)
    • more or less elaborate test scenarii (in scenarii)
  • src: it contains all the python scripts used by the simulator : it is the core of the simulator
    • morse/actuators: it contains implementation for various robot actuators
    • morse/blender: it contains some scripts needed at the initialization of the game engine
    • morse/builder: it contains the scripts for the API that permits creating a simulation scenario from a Python file. See the Builder API documentation.
    • morse/core: it contains core classes for the MORSE project (services, base objects, sensors, …)
    • morse/helpers: it contains various helpers (math transformation)
    • morse/middleware: it contains the code for linking with different middlewares, both for service or datastream. Each middleware has a separate directory.
    • morse/modifiers: it contains implementation for various modifiers to basic components
    • morse/robots: it contains instantiation of different robot classes
    • morse/sensors: it contains implementation for various robot sensors
  • testing: it contains “unit-test” for various part of MORSE.